Abstract
This research studies a haptic interface with a virtual coupling (VC) including a fractional derivative. As a VC, a virtual stiffness and viscosity are generally used but the maximum stiffness is restricted by the sampling rate. To address this issue, this research considers to using a VC consisting of a FIR approximation of a fractional derivative and analyzes the passivity of a fractional derivative term. Then, this paper considers to a VC using a linear combination with several FIR approximations of a fractional derivative and proposes a method to design coefficients using a steepest descent method for a linear combination, and performs experiments to show the effectiveness.
